JP7225400B2 - vehicle controller - Google Patents

Description

The present invention relates to a vehicle control device that assists driving.

Conventionally, in order to realize an autonomous driving system or a parking assistance system for a vehicle, surrounding environment information such as the route traveled by the own vehicle, objects around the own vehicle, white lines, etc. is stored, and then the stored surrounding environment information is used. A vehicle control device for controlling a vehicle is known (see Patent Literature 1, for example).

Information on the surrounding environment of the vehicle includes location information on objects such as stationary and moving objects around the vehicle, road markings (road surface paint) such as white lines and stop lines on the road, traffic lights, speed signs, etc. The surrounding situation of the external world can be mentioned.

The vehicle control device needs to determine whether an object is a stationary object or a moving object, and detect information such as the position and speed of the object. In addition, it is necessary to determine the position of the white line on the road on which the vehicle is traveling and the meaning of the sign.

Therefore, a vehicle sensor is required to detect information about the surrounding environment of the own vehicle. Cameras using image recognition technology, sonar using ultrasonic technology, and millimeter-wave radar using radio waves with short wavelengths are effective as vehicle sensors.

Also, the route traveled by the own vehicle can be calculated by acquiring information on the position of the own vehicle. There are various methods for acquiring the position of the vehicle depending on the configuration of the system, but dead reckoning is a method that estimates the position of the vehicle using vehicle sensor information such as wheel speed sensors, steering angle sensors, acceleration sensors, and gyro sensors. Are known.

JP 2016-99635 A

However, the vehicle sensor may change its detection performance depending on the speed range of the own vehicle. Specifically, the number of false detections and non-detections increases with regard to the detection of objects and white lines around the vehicle and the content of signs.

For example, a sonar or a monocular camera that detects information in the vicinity of a vehicle has a limited range of vehicle speed that can be accurately detected due to the detection range. In addition, millimeter-wave radar has little change in detection accuracy depending on the vehicle speed range, but the accuracy of object shape is lower than that of sonar.

In addition, sonar and millimeter-wave radar may not be able to accurately acquire received waves because the transmitted waves are reflected irregularly due to cracks and unevenness on the road surface. Since the phenomenon occurs remarkably in a low vehicle speed range, an error occurs in the recognition accuracy.

In addition, depending on the vehicle speed range of the own vehicle, skidding occurs due to the occurrence of a slip angle due to tire deflection. Dead reckoning, which is a vehicle position estimation method, uses vehicle sensor information to calculate and successively calculate the distance traveled and the yaw angle. do.

The present invention has been made in view of the above problems, and notifies the user to match the vehicle speed to improve the accuracy of the vehicle sensor and the vehicle position estimation method when storing the surrounding environment information, Another object of the present invention is to reduce various errors by controlling the vehicle speed so as to improve the accuracy of the vehicle sensor and the vehicle position estimation method during automatic driving.

The present invention is a vehicle control device that has a processor and a memory and controls travel of a vehicle, comprising: a sensor that acquires surrounding environment information of the vehicle; and a vehicle position estimator that estimates a travel route of the vehicle. a surrounding environment storage unit for storing the surrounding environment information acquired by the sensor and the travel route estimated by the vehicle position estimation unit in association with each other; and the surrounding environment storage unit storing the surrounding environment information and the travel route. setting a vehicle speed threshold when storing in correspondence, and determining whether or not a current vehicle speed exceeds the vehicle speed threshold when the surrounding environment storage unit stores the surrounding environment information and the travel route; a threshold value determination unit, and when the vehicle speed threshold value determination unit determines that the vehicle speed exceeds the vehicle speed threshold value, a warning unit that notifies that the vehicle speed exceeds the vehicle speed threshold value, and start storing the surrounding environment information and the travel route. an input unit that receives a start position m1, the surrounding environment storage unit stores the surrounding environment information and the travel route from the start position m1 to a preset target position in association with each other; The vehicle speed threshold determination unit sets the vehicle speed threshold as an upper limit of vehicle speed that can ensure the accuracy of estimating the position of the vehicle. The upper limit of the vehicle speed is set to a first vehicle speed threshold v1, and the upper limit of the vehicle speed is set to a second vehicle speed threshold smaller than the first vehicle speed threshold v1 from a predetermined position m2 to the vicinity of the target position, which is the parking start position m3. v2, and a vehicle speed lower limit value v3 smaller than the second vehicle speed threshold value v2 is set as a range in which vehicle speed accuracy does not decrease .

Therefore, according to the present invention, when the surrounding environment information is stored, it is possible to notify the vehicle speed range such that the accuracy of the vehicle sensor and the vehicle position estimation method is improved. Further, when assisting the driving of the vehicle, it is possible to set the vehicle speed at which the accuracy of the surrounding environment information and the accuracy of the vehicle position estimation method are improved.

Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

1 is a block diagram showing an embodiment of the present invention and showing an example of a vehicle to which the present invention is applied; FIG. 1 is a block diagram showing an embodiment of the present invention and showing an example of functions of a vehicle control device to which the present invention is applied; FIG. 1 is a diagram showing an embodiment of the present invention and showing an example of a recognition area by an imaging sensor and a short distance ranging sensor mounted on a vehicle; FIG. FIG. 4 is a diagram showing an embodiment of the present invention and showing an example of recognition regions by a middle-range sensor and a long-range sensor mounted on a vehicle; FIG. 4 is a diagram showing an embodiment of the present invention, and showing an example of a mechanism in which an error occurs between an estimated position of a vehicle and an actual vehicle position during a circular turn depending on the vehicle speed range; FIG. 4 is a diagram showing an embodiment of the present invention and showing an example of a mechanism in which tire deflection occurs. FIG. 4 is a diagram showing an embodiment of the present invention and showing an example of a mechanism in which an error occurs in recognition accuracy due to cracks and unevenness of a road surface; It is a figure which shows the Example of this invention and shows an example of the surrounding environment of a vehicle. FIG. 5 is a diagram showing an example of a screen output to a display device when storing surrounding environment information of a vehicle according to the embodiment of the present invention; FIG. 10 is a diagram showing an embodiment of the present invention and showing an example of a screen display when the vehicle speed exceeds the vehicle speed threshold when traveling to a target position in manual operation; FIG. 7 shows an embodiment of the present invention, and shows an example of a screen display when vehicle speed exceeds a vehicle speed threshold for a certain period of time when storing surrounding environment information of a vehicle. FIG. 5 is a diagram showing an example of a screen display output to a display device when executing automatic driving to a target position using stored surrounding environment information, showing an embodiment of the present invention; It is a graph which shows the Example of this invention and shows the relationship of the vehicle speed, remaining distance, and time in the point which changes vehicle speed on a driving route. 4 is a flow chart showing an embodiment of the present invention and showing an example of processing executed by a vehicle control device during manual driving. It is a flowchart which shows the Example of this invention and shows an example of the process performed by a vehicle control apparatus at the time of automatic driving. FIG. 5 is a diagram showing an embodiment of the present invention, and showing an example of specifying a user who executed storage processing and acquiring information from the outside of the vehicle control device when using surrounding environment information of a vehicle;

An embodiment of a vehicle to which the vehicle control device of the present invention is applied will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a vehicle according to the invention. The illustrated vehicle 1 includes, for example, an in-cylinder injection gasoline engine 11 as a driving power source, an automatic transmission 12 for transmitting driving force from the gasoline engine 11, a propeller shaft 13, a differential gear 14, It is a rear wheel drive vehicle including a drive shaft 15 , four tires 16 and a braking device 20 with wheel speed sensors, and an electric power steering 21 .

In the vehicle 1, devices including a vehicle control device 50 and various sensors, actuators, and equipment, which will be described later, exchange signals and data through in-vehicle LAN and CAN communication. The vehicle control device 50 acquires information from the outside of the vehicle 1 from sensors, which will be described later, and outputs command values for realizing control such as automatic parking (driving assistance) and automatic driving to the gasoline engine 11 and the wheels. It is transmitted to the braking device 20 including the speed sensor, the electric power steering 21 and the automatic transmission 12 . The wheel speed sensor generates a pulse waveform according to the rotation of the wheels and transmits it to the vehicle control device 50 .

A plurality of imaging sensors 17 and a plurality of short-range ranging sensors 24 are arranged in front, rear, and sides of the vehicle 1 . In addition, middle-range ranging sensors 22 are arranged in front and rear of the vehicle 1 . Also, a long-distance ranging sensor 23 is arranged in front. These sensors detect objects around the vehicle 1 and the road environment such as white lines, and supply them to the vehicle control device 50 . The mounting positions of these sensors and the number of various sensors are not limited to those shown in FIG.

The illustrated vehicle 1 is an example of a vehicle to which the present invention can be applied, and the present invention does not limit the configuration of the applicable vehicle. For example, a vehicle employing a continuously variable transmission (CVT) instead of the automatic transmission 12 may be used. Further, instead of the gasoline engine 11 as the driving power source, a motor or a vehicle using an engine and a motor as driving power sources may be used.

FIG. 2 is a functional block diagram of a vehicle control system to which the present invention is applied. The vehicle control system shown in FIG. 2 is mounted on a vehicle 1, and includes an image sensor 17, a short-range ranging sensor 24, a middle-range ranging sensor 22, a long-range ranging sensor 23, and an input switch. It is composed of a unit 34, a wheel speed sensor 35, a position detector 36, a communication device 37, various sensors/actuators ECU 40 of the vehicle, a warning device 41, and a vehicle control device 50 connecting them.

Vehicle control device 50 includes processor 2 and memory 3 . The vehicle control device 50 includes a vehicle position estimation unit 51, a surrounding environment storage unit 52, a vehicle speed threshold determination unit 53, a stored information collation unit 54, a vehicle speed calculation unit 55, an external world recognition information conversion unit 56, and a vehicle Each program of the control unit 57 is loaded into the memory 3 and executed by the processor 2 .

The processor 2 operates as a functional unit that provides a predetermined function by executing processing according to the program of each functional unit. For example, the processor 2 functions as the vehicle position estimation unit 51 by executing processing according to the vehicle position estimation program. The same is true for other programs. Furthermore, the processor 2 also operates as a functional unit that provides functions of multiple processes executed by each program. Computers and computer systems are devices and systems that include these functional units.

The imaging sensor 17 can be composed of, for example, a camera. The imaging sensor 17 is used to capture information on objects, white lines, and signs using imaging elements attached around the vehicle 1 . Also, in the example shown in FIG. 2, there is one camera, but a stereo camera with two cameras may be used.

The data captured by the imaging sensor 17 can be synthesized and processed, for example, into a bird's-eye view image representing a state of looking down from a virtual viewpoint above the vehicle 1 that can display the surroundings of the vehicle 1 . Image data captured by the image sensor 17 is input to the vehicle control device 50 .

The short-range ranging sensor 24 can be composed of, for example, a sonar. The short-range ranging sensor 24 is used to detect the distance to an object in the vicinity of the vehicle 1 by transmitting ultrasonic waves toward the surroundings of the vehicle 1 and receiving the reflected waves. Range data obtained by the short-range range sensor 24 is input to the vehicle control device 50 .

The middle-range ranging sensor 22 can be composed of, for example, a millimeter wave radar. The middle-range ranging sensor 22 is used to detect the distance to an object by transmitting high-frequency waves called millimeter waves toward the surroundings of the vehicle 1 and receiving the reflected waves. Ranging data from the intermediate range sensor 22 is input to the vehicle control device 50 .

The long-distance ranging sensor 23 can be composed of, for example, a millimeter wave radar. The long-distance ranging sensor 23 is used to detect the distance to a distant object by transmitting high-frequency waves called millimeter waves toward the front of the vehicle 1 and receiving the reflected waves. Further, the long-distance ranging sensor 23 is not limited to a millimeter wave radar, and can be configured with a stereo camera or the like. Ranging data from the long-distance ranging sensor 23 is input to the vehicle control device 50 .

The input switch unit 34 is, for example, a dedicated mechanical switch provided around the driver's seat 413 . Also, the input switch section 34 may be a GUI (Graphical User Interface) switch or the like. The input switch unit 34 receives an instruction to store surrounding environment information or an instruction to automatically control the vehicle by a user's (driver's) operation.

The wheel speed sensor 35 includes a sensor attached to each wheel of the vehicle 1 to detect the rotational speed of the wheel, and a controller that integrates detection values detected by the sensors to generate a vehicle speed signal. Vehicle speed signal data from the wheel speed sensor 35 is input to the vehicle control device 50 .

The position detector 36 includes a direction sensor for measuring the direction in front of the vehicle 1, a GPS receiver for GPS (Global Positioning System) for measuring the position of the vehicle based on radio waves from satellites, and the like.

The communication device 37 is a device for exchanging communication from the outside. Acquire object information (objects existing around the road such as signs, traffic lights, and features). As will be described later, this information includes information detected by sensors installed in the road infrastructure, road surrounding information (road surface information, object information, etc.) stored in an external data center, and road surface information detected by other vehicles. It is also possible to acquire peripheral information (road surface information, object information, etc.) using the communication device 37 . Furthermore, it is also possible to update the pre-stored road surrounding information to the latest information using the communication device 37 .

The various sensor/actuator ECUs 40 may be well-known or well-known ones, and include, for example, a power steering ECU and a brake ECU.

The vehicle control unit 57 includes, as objects to be controlled, a driving force 571, a braking force 572, a steering angle 573 for controlling the course of the vehicle 1, a traveling direction 574 of the vehicle 1, and the like.

The warning device 41 notifies the user of exceeding the vehicle speed determined by the vehicle speed threshold determination unit 53, which will be described later. For example, a display device 411 such as a liquid crystal display, an audio output device 412 such as a speaker, a driver's seat 413 having a vibrator, and the like are used to notify the user of excessive speed.

The vehicle position estimator 51 calculates and estimates the position where the vehicle 1 travels, for example, from information output from the position detector 36 and the wheel speed sensor 35 .

Vehicle speed calculation unit 55 detects the running speed of vehicle 1 from the signal output from wheel speed sensor 35 and outputs a vehicle speed signal indicating the detected running speed to vehicle control device 50 .

The vehicle speed threshold determination unit 53 determines whether or not the vehicle speed controlled by the user exceeds the upper limit value of the vehicle speed predetermined by the vehicle control device 50 when the surrounding environment information is stored.

The external world recognition information conversion unit 56 uses the imaging sensor 17, the short-distance ranging sensor 24, the middle-distance ranging sensor 22, and the long-distance ranging sensor 23 to obtain surrounding environment information when the vehicle is driven manually. , the positional relationship of the vehicle 1 output from the vehicle position estimator 51 is converted into a predetermined coordinate system.

The surrounding environment storage unit 52 stores data obtained by converting the relationship between the surrounding environment information converted into a predetermined coordinate system by the external world recognition information conversion unit 56 and the position (running route) of the vehicle 1 into a predetermined coordinate system. The vehicle position estimating unit 51 estimates the vehicle position at a predetermined cycle, and the surrounding environment storage unit 52 stores data connecting the estimated positions in time series as a travel route.

The position information of the vehicle 1 of the own vehicle position estimating section 51 corresponding to the surrounding environment information stored in the surrounding environment storing section 52 is input to the stored information matching section 54 . The stored information collating unit 54 collates the information of the surrounding environment of the vehicle 1 detected by various sensors mounted on the vehicle 1 with the stored information, and determines whether the object corresponding to the stored information matches. Calculate and compare feature amounts.

The stored information matching unit 54 calculates and compares the feature values of the objects stored in the surrounding environment storage unit 52 and the detected objects in the surrounding environment of the vehicle 1 . It should be noted that a well-known or well-known method may be applied for calculation of the feature amount.

The stored information matching unit 54 transitions to the low-speed automatic driving possible state when the degree of matching of the feature amounts is high, and transitions to the low-speed automatic driving disabled state when the degree of matching of the feature amounts is low.

The vehicle control unit 57 calculates target values for controlling various sensors/ actuators ECU 40 and outputs control instructions when performing low-speed automatic driving. The target values calculated by the vehicle control unit 57 include a driving force 571 , a braking force 572 , a steering angle 573 and a traveling direction 574 .

FIG. 3 is a diagram showing an example of the arrangement and detection range of short-range sensors 24A to 24L and imaging sensors 17A to 17D mounted on the front, sides, and rear of the vehicle 1. As shown in FIG.

As shown in FIG. 3, a total of six short-range sensors 24A, 24B, 24C, 24D, 24E, and 24F are arranged in front of the vehicle 1, and a total of six short-range sensors are arranged in the rear of the vehicle. Distance sensors 24G, 24H, 24I, 24J, 24K and 24L are arranged. The ellipse indicated by the dotted line in FIG. 3 indicates an example of the detection range of each of the short-range ranging sensors 24A to 24L.

As shown in FIG. 3, an imaging sensor 17A is attached to the front of the vehicle 1, imaging sensors 17B and 17C are attached to the left and right sides of the vehicle 1, and an imaging sensor 17D is attached to the rear of the vehicle 1. FIG.

The straight dashed lines shown in FIG. 3 indicate an example of the detection range of each of the imaging sensors 17A to 17D. By converting and combining images captured by the four imaging sensors 17A to 17D, it is possible to generate a bird's-eye view of the vehicle 1 and its surroundings from above. The bird's-eye view is used when displayed on a liquid crystal display (display device 411) or the like.

FIG. 4 is a diagram showing an example of the arrangement and detection range of the middle range sensors 22A to 22D mounted on the front and rear of the vehicle 1 and the long range sensor 23 mounted on the front of the vehicle 1. be.

As shown in FIG. 4, middle-range ranging sensors 22A-22B are arranged at the front of the vehicle 1, and middle-range ranging sensors 22C-22D are arranged at the rear of the vehicle. A fan shape indicated by a dotted line in FIG. 3 indicates an example of the detection range of each of the middle-range ranging sensors 22A to 22D.

As shown in FIG. 4, a long distance sensor 23 is arranged at the front of the vehicle 1 . A sector indicated by a dashed line in FIG. 4 indicates an example of the detection range of the long-distance ranging sensor 23 .

FIG. 5 is a diagram showing the locus of movement of the vehicle 1 due to changes in the vehicle speed range when the vehicle is traveling in a steady circle. The vehicle 1a is shown in position after traveling a certain distance with respect to the vehicle 1. FIG. The solid line indicates the target route trajectory 501, the long two-dot chain line indicates the trajectory 502 during low speed running, and the long dashed line indicates the trajectory 503 during high speed running.

In FIG. 5, the target route trajectory 501 can be followed during low-speed running because the tires 16 are less likely to flex, but the target route trajectory 501 can be followed even if the steering angle is the same because the tires 16 flex during high-speed running. error occurs. Although the target route trajectory 501 and the trajectory 502 during low-speed running are the same, they are shown shifted in FIG.

FIG. 6 is a diagram showing changes in deflection of the tire 16. As shown in FIG. The tire 16 is deflected by the frictional force generated by contact with the road surface and the lateral force (lateral load in the figure) during turning, and the greater the load, the greater the deflection. During high-speed running shown in FIG. 5, the load on the tire 16 increases and deflection occurs, and the target route locus 501 cannot be followed, resulting in an error.

FIG. 7 shows an example in which the surrounding environment information includes cracks and irregularities in the road surface. Information about the surrounding environment of the vehicle 1 includes white lines 109 , cracks 601 , and road surface unevenness 600 . Sonar and millimeter-wave radar transmit ultrasonic waves and millimeter waves to an object and measure the distance based on the time it receives the reflected wave that hits the object. Therefore, the received wave cannot be acquired accurately. Since the phenomenon occurs remarkably in a low vehicle speed range, an error occurs in the recognition accuracy.

8, 9, 10, and 11 show an example of a running scene related to the running control system of the present embodiment, in which environment information around the vehicle 1 is stored by manual operation, and the stored surrounding environment information is used. FIG. 10 is an explanatory diagram relating to a case where the vehicle is automatically driven to a target position. Here, the target position indicates a parking position, a stop position, or the like. Note that the target position may be set in advance from an input device such as the input switch section 34 or the like. Alternatively, in the case of the display device 411 having a touch panel, map information may be displayed on the screen to set the target position.

FIG. 8 is a diagram showing an example of surrounding environment information of the vehicle 1. As shown in FIG. The surrounding environment information of the vehicle 1 includes a utility pole 104, a traffic light 105, a pedestrian crossing 106, a sign 107, a road surface paint 108, a white line 109, and the like existing on the side of the road. Further, there are other vehicles 102 and an outer wall 110 around the house 103 . Further, the surrounding environment information may include the road surrounding information (road surface information and object information) described above.

Points m1, m2, and m3 in FIG. 8 indicate points at which the speed of the vehicle 1 is changed in FIG. 13, which will be described later.

8 shows a route 111 during manual driving, and FIG. 12 shows a target route 112 during automatic driving, as information necessary for automatic driving of the vehicle 1. As shown in FIG.

Moving objects around the vehicle 1 change from moment to moment, but in general, the road surface paint 108, the signs 107 around the road, the traffic lights 105, etc. are considered objects that always exist unless they are updated or repaired. Then , the positions of the road surface paint 108, the sign 107, and the traffic light 105, which are objects that always exist, are stored in the surrounding environment storage unit 52 as information on the map.

FIG. 9 is a diagram showing a display example of the screen 420 during storage of the surrounding environment information when the surrounding environment information is stored in manual operation. FIG. 9 shows an example of a screen 420 displayed on the display 411. As shown in FIG.

The screen 420 includes a window 421 that displays an image of the front of the vehicle 1 captured by the imaging sensor 17A, and a window 422 that displays an overhead view of the vehicle 1 by synthesizing the images captured by the imaging sensors 17A to 17D. include.

In the flowchart of FIG. 14, which will be described later, the screen 420 of FIG. 9 shows the processing contents of step S104.

FIG. 10 is a diagram showing a display example of a screen 420 that notifies the driver to reduce the vehicle speed when the speed of the vehicle 1 exceeds the vehicle speed threshold when storing the surrounding environment information during manual operation. In the flowchart of FIG. 14, which will be described later, the screen 420 of FIG. 10 shows the processing contents of step S106.

FIG. 10 shows an example in which a screen 420 displayed on the display 411 displays a warning 431 to reduce the vehicle speed. A warning 431 is displayed across two windows 421 and 422 .

FIG. 11 is a diagram showing a display example of a screen 420 for stopping storing the surrounding environment information when the period in which the speed of the vehicle 1 exceeds the vehicle speed threshold exceeds a certain period of time when storing the surrounding environment information during manual operation. is. In the flowchart of FIG. 14, which will be described later, the screen 420 of FIG. 11 shows the processing contents of step S108.

FIG. 11 shows an example in which a screen 420 displayed on the display 411 displays a notification 432 to stop storing the surrounding environment information. Notification 432 is displayed across two windows 421 and 422 .

FIG. 12 is a diagram showing a display example of a screen 440 for executing automatic driving using stored surrounding environment information. In the flowchart of FIG. 15, which will be described later, a screen 440 of FIG. 12 shows the processing contents of step S207.

FIG. 12 shows an automatic driving screen 440 displayed on the display 411, which includes an image of the front of the vehicle 1 captured by the image sensor 17A, a window 451 displaying the target route 112, and images captured by the image sensors 17A to 17D. It includes a window 452 that synthesizes the object detected from the image and the target route 112 and displays an image that looks down on the vehicle 1 from above.

FIG. 13 is a graph showing the relationship between the vehicle speed, the remaining distance, and the time at points (m1 to m3) where the speed of the vehicle 1 is changed in FIG. 8 described above. Here, the remaining distance indicates the remaining traveling distance from the starting position to the target position.

Further, in FIG. 13, the vehicle speed threshold v1 is the upper limit value of the vehicle speed at which the recognition accuracy of the surrounding environment information can be ensured and the estimation accuracy of the own vehicle position can be ensured. Also, the vehicle speed threshold v2 in the figure indicates a value obtained by lowering the speed of the vehicle 1 from the vehicle speed threshold v1 when approaching a landmark (predetermined object or white line) of the surrounding environment information. It shows the lower limit of the speed of the vehicle 1 that is less susceptible to cracks and unevenness. The relationship between the vehicle speed threshold and the vehicle speed lower limit is v1>v2>v3.

When the vehicle speed decreases, the pulse rate detected by the wheel speed sensor 35 also decreases, and the accuracy of the locus of the travel route (vehicle position) calculated based on the pulses decreases. Therefore, when detecting the surrounding environment information, the vehicle speed lower limit v3 is set in advance as a range in which the accuracy of the vehicle speed does not decrease.

A point m1 indicates a storage start point, a point m2 indicates a point at which the vehicle speed is reduced when approaching a predetermined landmark in the surrounding environment information, and a point m3 indicates a point at which the vehicle speed is decreased when the target position is approached.

Also, time t1 indicates the time at which the vehicle passes a point approaching the landmark, time t2 indicates the time at which the vehicle passes a point approaching the target position, and time t3 indicates the time at which the target position is reached.

From FIG. 13, the vehicle speed threshold value v1 of the vehicle 1 is increased to the upper limit value from the vicinity of the point m1, which is the storage start point, to the point m2 where the landmark is recognized. When approaching the point m2 near the landmark, the vehicle speed is decreased to the vehicle speed threshold v2 at which the recognition accuracy of the sensor improves. At a point m3 nearing the target position, the vehicle speed lower limit value v3 is released and automatic parking is performed. Up to the point m3, the vehicle speed is limited so as not to fall below the lower limit value v3.

As described above, the vehicle control device 50 gradually lowers the vehicle speed threshold as it approaches the target position, reliably recognizes the surrounding environment information, secures the accuracy of estimating the position of the vehicle 1, and automatically operates. to ensure the control accuracy of

FIG. 14 is a flowchart of processing executed by the vehicle control device 50 when the user performs manual driving and causes the vehicle control device 50 to store the surrounding environment information.

In step S<b>101 , the vehicle control device 50 obtains an estimated value of the current position of the vehicle 1 from the own vehicle position estimator 51 and determines the position of the vehicle 1 . Here, by determining the position of the vehicle 1, the point where the storage of the surrounding environment information is started in the surrounding environment storage unit 52 is specified. In this step, as a method of specifying the position of the vehicle 1, it is possible to specify the approximate position of the vehicle 1 by utilizing the GPS information of the position detector 36. FIG.

In step S102, the vehicle control device 50 determines whether or not the user has detected an operation to start storing the surrounding environment information. This determination can be made by detecting whether or not the vehicle control device 50 has operated a predetermined input switch section 34 . If an operation to start storing surrounding environment information is detected, the process proceeds to step S103. If the operation to start storing the surrounding environment information is not detected, the processing ends.

In step S103, the vehicle speed threshold determination unit 53 of the vehicle control device 50 calculates a vehicle speed threshold capable of improving the recognition accuracy of the surrounding environment. In this embodiment, the vehicle speed threshold is set to a preset constant value. Here, the vehicle speed threshold is determined by the imaging sensor 17, the short-range sensor 24, the middle-range sensor 22, and the long-range sensor 23. It shows a threshold of vehicle speed at which an accuracy error of dead reckoning for calculating a moving distance and a yaw angle using wheel pulses of the wheel speed sensor 35 is reduced when environmental information is recognized.

Also, the vehicle speed threshold is gradually reduced according to the distance from the current position to the target position, like the vehicle speed thresholds v1 and v2 shown in FIG.

In step S104, the user manually drives the vehicle 1 to start traveling from the storage start position of the surrounding environment information to the target position. During manual driving, the surrounding environment storage unit 52 stores surrounding environment information of the vehicle 1 with the imaging sensor 17, the short-distance ranging sensor 24, the middle-distance ranging sensor 22, and the long-distance ranging sensor 23. It recognizes objects, white lines, signs, etc. Also, the surrounding environment storage unit 52 acquires the position of the vehicle 1 from the own vehicle position estimation unit 51 .

In this step, as a method for specifying the position of the vehicle 1 by the own vehicle position estimating unit 51, the movement distance and the yaw angle are calculated using the wheel pulse of the wheel speed sensor 35. It is also possible to estimate the position of the vehicle 1 with high accuracy.

The surrounding environment storage unit 52 stores the surrounding environment converted into a predetermined coordinate system by the external world recognition information conversion unit 56 from the recognition result of the surrounding environment information and the position (driving route) of the vehicle 1 from the own vehicle position estimation unit 51. Data obtained by converting the positional relationship between the information and the vehicle 1 into a predetermined coordinate system is stored.

The surrounding environment storage unit 52 stores the position of the vehicle 1 in the memory 3 as the target route 112 to be used during automatic driving.

In step S105, the vehicle speed threshold determination unit 53 determines whether or not the vehicle driven by the user is traveling at a value higher than the vehicle speed threshold. If the speed of the vehicle 1 is equal to or lower than the vehicle speed threshold, the process proceeds to step S109. On the other hand, when the speed of the vehicle 1 is higher than the vehicle speed threshold, the process proceeds to step S106.

In step S106, the vehicle speed threshold determination unit 53 notifies the user to reduce the speed of the vehicle 1 to the vehicle speed threshold or less. As a notification method, for example, a message (or warning) to reduce the speed of the vehicle 1 is displayed on a liquid crystal display (display device 411) or the like to notify the user.

In step S107, the vehicle speed threshold determination unit 53 determines whether the speed of the vehicle 1 driven by the user is higher than the vehicle speed threshold for a certain period of time. Here, the fixed time indicates a preset time. When the speed of the vehicle 1 exceeds the vehicle speed threshold and a certain time has passed, the vehicle speed threshold determination unit 53 proceeds to step S108. On the other hand, if the speed of the vehicle 1 falls below the vehicle speed threshold value within the predetermined time, the process returns to step S104 and the above processing is repeated.

In step S108, when the speed of the vehicle 1 exceeds the vehicle speed threshold for a certain period of time, storage of the surrounding environment information is stopped. As a method of informing the user of the cancellation of the storage operation, for example, the cancellation of storage of the surrounding environment information is displayed on a liquid crystal display (display unit 411) or the like.

In step S109 when the vehicle speed is equal to or lower than the vehicle speed threshold, the surrounding environment storage unit 52 determines whether or not an operation by the user to terminate the storage of the surrounding environment information has been detected. This determination can be made by detecting that a predetermined input switch unit 34 has been operated, that the shift range has been operated to parking, that the parking brake has been operated, or the like. If an operation to end the storage of the surrounding environment information is detected, the process proceeds to step S110. If the surrounding environment information storage end operation is not detected, the process returns to step S104 and the above processing is repeated.

In step S110, the surrounding environment storage unit 52 executes a process of storing the surrounding environment information recognized in step S104 and the vehicle position information. As the content of the storage process, for example, the external world recognition information conversion unit 56 converts the relationship between the recognized surrounding environment information and the vehicle position into XY coordinates using the storage operation start point as the origin. The converted information is stored in the surrounding environment storage unit 52, and a message or the like storing the surrounding environment information is displayed on the liquid crystal display (display unit 411) or the like. Further, the target position may be the origin of the coordinate system for the relationship between the recognized surrounding environment information and the vehicle position.

FIG. 15 is a flowchart of processing executed by the vehicle control device 50 when automatically driving using the stored surrounding environment information.

In step S<b>201 , the vehicle position estimator 51 of the vehicle control device 50 determines the position of the vehicle 1 . Here, by determining the position of the vehicle 1 , it is determined whether or not the vehicle 1 has approached the start point of the surrounding environment information stored in the surrounding environment storage unit 52 . In this step, as a method of specifying the position of the vehicle 1, it is possible to specify the approximate position of the vehicle 1 by utilizing the GPS information of the position detector 36. FIG.

In step S202, the vehicle position estimation unit 51 determines whether or not the vehicle 1 has approached the storage start point. This determination can be made by detecting whether the location information of the vehicle 1 and the point information at which storage of the surrounding environment information is started match.

In this embodiment, the vehicle position estimator 51 can identify the position of the vehicle 1 by utilizing the GPS information of the position detector 36 .

If the position information of the vehicle 1 matches the point information where the storage of the surrounding environment information is started, the vehicle position estimation unit 51 proceeds to step S203. If the location information of the vehicle 1 does not match the point information at which the storage of the surrounding environment information is started, the process is terminated.

In step S<b>203 , the stored information collation unit 54 of the vehicle control device 50 performs a collation process between the current position of the vehicle 1 and the surrounding environment information stored in the surrounding environment storage unit 52 .

The matching process is performed by using the vehicle position information calculated by the vehicle position estimator 51 and the position information recognized by the imaging sensor 17, the short-range sensor 24, the middle-range sensor 22, and the long-range sensor 23. The positions of objects and white lines are recognized by the own vehicle position information of the stored surrounding environment information and the imaging sensor 17, the short-range ranging sensor 24, the middle-range ranging sensor 22, and the long-range ranging sensor 23. Compare the positions of objects and white lines to see if they match a certain amount.

Here, the reason why the fixed amount is defined is that when the position of the vehicle 1 is GPS information, the accuracy of the own vehicle position information may decrease. When the own vehicle position estimation unit 51 uses dead reckoning, the position of the running vehicle 1 can be determined with higher accuracy by comparing the detected object, the position information of the white line, and the stored surrounding environment information. can be specified.

In step S204, the stored information matching unit 54 determines whether or not the matching of the position of the vehicle 1 and the own vehicle position information of the stored surrounding environment information has been completed. The determination method is based on the vehicle position information calculated by the vehicle position estimation unit 51 and the object recognized by the imaging sensor 17, the short-range sensor 24, the middle-range sensor 22, and the long-range sensor 23. , and white line positions, objects and This determination can be made by detecting whether the positions of the white lines match.

When the comparison between the position of the vehicle 1 and the stored surrounding environment information is completed, the vehicle 1 is transitioned to a state in which automatic operation is possible. When the comparison between the position of the vehicle 1 and the stored surrounding environment information is completed, the process proceeds to step S205. If the comparison between the position of the vehicle 1 and the stored surrounding environment information is not completed, the process returns to step S203 and repeats the above processing.

In step S205, the vehicle speed calculation unit 55 calculates a target vehicle speed for automatically traveling following the stored target route 112. FIG. In this embodiment, the target vehicle speed is changed according to the distance to the target position from the travel distance from the storage start point to the target position based on the stored travel route information.

As shown in FIG. 13, the vehicle speed calculation unit 55 calculates the target vehicle speed so as to be equal to or less than the vehicle speed thresholds v1 and v2 according to the distance to the target position. In FIG. 13, the vehicle speed calculation unit 55 calculates the target vehicle speed so that the vehicle speed threshold value v1 or less is reached from the storage start position (point m1) of the surrounding environment storage unit 52 to a point m2 near a predetermined landmark in the surrounding environment information. do.

After passing the point m2, the vehicle speed calculation unit 55 switches to the vehicle speed threshold value v2 to reduce the target vehicle speed, improve the recognition accuracy of the surrounding environment information, and travel to the point m3 near the target position.

The vehicle speed calculation unit 55 sets the target vehicle speed so that it does not fall below the vehicle speed lower limit value v3 until the parking start point m3, and ensures dead reckoning accuracy based on the output of the wheel speed sensor 35.

In order to park the vehicle from point m3, the vehicle speed calculation unit 55 cancels the restriction of the vehicle speed lower limit value v3 to further reduce the target vehicle speed, thereby performing highly accurate automatic parking toward the target position.

In step S206, the vehicle control unit 57 of the vehicle control device 50 determines whether or not the user has detected an instruction for automatic driving. This determination can be made by detecting whether or not a predetermined input switch section 34 has been operated. When the automatic driving instruction is detected, the process proceeds to step S207. If the automatic driving instruction is not detected, the processing is terminated.

In step S207, the vehicle control unit 57 executes driving control of the vehicle 1 along the target route 112 stored from the surrounding environment information.

In step S208, the vehicle control unit 57 determines whether the vehicle 1 has reached the target position. As for the determination method, this determination can be made when the estimated position of the own vehicle calculated by dead reckoning reaches the target position obtained from the surrounding environment information . When the vehicle 1 reaches the target position, the process proceeds to step S209. If the vehicle 1 has not reached the target position, the process returns to step S207 and the above processing is repeated.

In step S<b>209 , the vehicle control unit 57 terminates control of the vehicle 1 . When the control ends, a message or the like indicating the end of the vehicle control is displayed on the liquid crystal display (indicator 411) or the like because the vehicle 1 has reached the target position.

According to the embodiment of the present invention described above, when storing the surrounding environment in manual operation, the accuracy error is reduced by operating the vehicle speed so as to improve the accuracy of the vehicle sensor and the estimation of the position of the vehicle. can do. Also, when comparing the current position of the vehicle 1 and the surrounding environment information with the travel route and surrounding environment information stored in automatic driving, the vehicle speed is controlled so as to improve the accuracy of vehicle sensors and self-vehicle position estimation. , the accuracy error can be reduced.

Although preferred embodiments of the present invention have been described, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

Further, in the calculation of the vehicle speed threshold for improving the recognition accuracy shown in step S103, the high-precision map information is used to set the vehicle speed threshold (upper limit) in advance according to the type of road, and the vehicle speed threshold ( Alternatively, the target vehicle speed) may be changed. For example, the vehicle speed threshold is changed for main roads and community roads as types of roads.

Further, the calculation of the vehicle speed threshold for improving the recognition accuracy shown in step S103 is performed when speed signs and road signs are recognized using the image sensor 17 such as a camera, and the vehicle speed threshold ( Alternatively, the target vehicle speed) may be determined.

Further, the calculation of the vehicle speed threshold that improves the recognition accuracy shown in step S103 is performed by using a ranging sensor such as radar or sonar. Therefore, a variable value obtained by calculating the vehicle speed threshold may be used. For example, the vehicle speed threshold is changed depending on whether the distance between the vehicle 1 and the object is long or short.

Further, the calculation of the vehicle speed threshold for improving the recognition accuracy shown in step S103 is performed by setting a target position in advance using GPS information such as a car navigation device, and using travel route information to guide the vehicle 1 from the position of the vehicle 1 to the target position. , the vehicle speed threshold may be changed to a variable value. For example, the vehicle speed threshold is changed depending on the traveling distance or the straight section and the curved section.

In addition, the notification method of lowering the vehicle speed below the vehicle speed threshold set in the vehicle control device 50 shown in step S106 uses an audio output device such as a speaker in the vehicle, and the vehicle speed exceeds the vehicle speed threshold. , the user may be notified by outputting a voice to reduce the vehicle speed.

In addition, the notification method of lowering the vehicle speed below the vehicle speed threshold determined by the system shown in step S106 uses the vibration of the vibrator of the seat installed in the driver's seat 413, and the vehicle speed exceeds the vehicle speed threshold. In this case, the vibrator in the driver's seat 413 may be vibrated for a certain period of time to notify.

Further, the calculation of the target vehicle speed when following the stored travel route shown in step S205 may be a variable value in which the target vehicle speed is set in advance according to the type of road using the high-precision map information. For example, the target vehicle speed is changed between main roads and community roads as types of roads.

Further, the calculation of the target vehicle speed when following the stored travel route shown in step S205 is performed using a range sensor such as radar or sonar. A variable value obtained by calculating the target vehicle speed from the positional relationship between the position and the object may be used. For example, the target vehicle speed is changed depending on whether the measured distance between the vehicle 1 and the object is long or short.

Further, the calculation of the target vehicle speed when following the stored travel route shown in step S205 is performed by calculating the target vehicle speed from the combination of the stored travel route information, the storage start position, the target position, the straight section, and the curved section. It may be a variable value to be calculated. For example, the target vehicle speed is changed between a straight section near the memory start point, a curved section and a straight section near the target position, and a curved section.

In addition, the surrounding environment storage unit 52 stores surrounding environment information acquired by the imaging sensor 17, the short-range ranging sensor 24, the middle-range ranging sensor 22, and the long-range ranging sensor 23 when the vehicle is driven manually. It is also possible to store the position information (driving route) of the vehicle 1 output from the vehicle position estimating unit 51 at the time, but there is a possibility that the amount of information to be stored may become enormous depending on the driving route. The storage capacity of the vehicle control device 50 may be insufficient.

Therefore, as shown in FIG. 16 , when using the surrounding environment information of the vehicle 1 , the user who executed the memory processing is specified and stored outside the vehicle control device 50 or acquired from outside the vehicle control device 50 . Give an example. FIG. 16 shows the surrounding environment information obtained by inputting the information of the user who executed the storage processing to the external data center 701 .

The surrounding environment information to be stored in the surrounding environment storage unit 52 is transmitted by the communication device (and the wireless base station 700) to an external facility (data center 701) capable of storing a large amount of data, and accumulated in the external data center. It is also possible to leave it. At that time, a method of specifying the user who stored the surrounding environment information is used.

In addition, when the surrounding environment information acquired when the vehicle is driven manually does not exist, the surrounding environment storage unit 52 uses the communication device to store the surrounding environment information acquired when another vehicle has traveled in the past and the vehicle itself. It can be acquired from an external data center 701 that manages vehicle position information, road infrastructure, or the like. By sharing the surrounding environment information with the external data center 701, road infrastructure, etc., it is possible for other vehicles other than the vehicle 1 to use the surrounding environment information and automatically travel.

As described above, in the vehicle control device 50 of the present embodiment, the travel route and the surrounding environment information are stored from the desired position (start position) to the target parking position (target position), and thereafter automatic operation is started. The vehicle 1 is moved from the position to the parking position.

The vehicle control device 50 starts running manually from a position desired by the user (starting position), and stores the surrounding environment information (obstacles and landmarks) and the running route with each sensor. When a predetermined threshold value is exceeded, a warning is given and the vehicle is driven at a speed equal to or lower than the predetermined threshold value.

The vehicle control device 50 allows the user to drive the vehicle 1 at an appropriate vehicle speed equal to or lower than a predetermined threshold, thereby improving the detection accuracy of the travel route by dead reckoning and the detection accuracy of the surrounding environment information (objects) of each sensor. becomes possible. Accurate surrounding environment information and driving routes can improve the accuracy of autonomous driving.

In the above embodiment, one user causes the vehicle control device 50 to detect the travel route and the surrounding environment information in manual operation, and then automatically operates the detected travel route and the surrounding environment information to move to the target position. Although an example is shown, it is not limited to this. For example, a plurality of users each perform manual driving to cause the vehicle control device 50 to detect the travel route and the surrounding environment information, and then, when moving to a target position by automatic driving, the data used for automatic driving is set to a plurality of data. You may make it select from a user.

Further, in the above embodiment, an example in which the vehicle control device 50 performs automatic driving has been shown, but the present invention is not limited to this, and may be applied to the vehicle control device 50 that performs automatic parking and steering assistance.

<Conclusion>
As described above, the vehicle control device 50 of the above embodiment can be configured as follows.

(1) A vehicle control device (50) having a processor (2) and a memory (3) and controlling travel of a vehicle (1), comprising a sensor (imaging device) for acquiring surrounding environment information of the vehicle (1). sensor 17, short-range ranging sensor 24, middle-range ranging sensor 22, long-range ranging sensor 23), a vehicle position estimator (51) for estimating the travel route of the vehicle (1), and the sensor ( 17), a surrounding environment storage unit (52) that associates and stores the surrounding environment information acquired by the vehicle position estimation unit (51) with the travel route estimated by the vehicle position estimation unit (51); A vehicle speed threshold is set when the environmental information and the travel route are stored in association with each other, and when the surrounding environment storage unit (52) stores the surrounding environment information and the travel route, the current vehicle speed is set to the above A vehicle speed threshold determination unit (53) for determining whether or not the vehicle speed threshold is exceeded, and when the vehicle speed threshold determination unit (53) determines that the vehicle speed exceeds the vehicle speed threshold, an excess of the vehicle speed is notified. and a warning part (41).

With the above configuration, the vehicle control device 50 causes the user (driver) to reduce the vehicle speed by notifying with the warning device 41 when the vehicle speed threshold value is exceeded, thereby reliably recognizing the surrounding environment information and the position information of the vehicle 1. can be estimated with high accuracy.

(2) The vehicle control device (50) according to (1) above, wherein the vehicle control unit (57) performs automatic driving based on the travel route and the surrounding environment information stored in the surrounding environment storage unit (52). and the vehicle control unit (57) sets a target vehicle speed equal to or lower than the vehicle speed threshold.

With the above configuration, the vehicle control unit 57 sets the target vehicle speed to be equal to or lower than the vehicle speed threshold, thereby ensuring the accuracy of recognition of the surrounding environment information, can be estimated with high precision.

(3) The vehicle control device (50) according to (1) above, further comprising an input section (input switch section 34) for receiving a start position for starting to store the surrounding environment information and the travel route. An environment storage unit (52) associates and stores the surrounding environment information and the travel route from the start position to a preset target position.

With the above configuration, the vehicle control device 50 can associate and store the surrounding environment information and the travel route from the start position set by the user (driver) to the predetermined target position.

(4) The vehicle control device (50) according to (2) above, further comprising an input unit (34) for receiving a start position for starting to store the surrounding environment information and the travel route, wherein the surrounding environment storage is performed. A unit (52) associates and stores the surrounding environment information and the travel route from the start position to a preset target position, and the vehicle control unit (57) receives the information from the input unit (34). When a command for automatic driving is received, automatic driving is performed according to the traveling route from the start position to the target position and the surrounding environment information stored in the surrounding environment information storage unit.

With the above configuration, the vehicle control device 50 associates and stores the surrounding environment information and the travel route from the start position set by the user (driver) to the predetermined target position. After that, when the vehicle control device 50 receives a command for automatic driving from the input switch unit 34, the vehicle control device 50 performs automatic driving according to the traveling route from the start position to the target position and the surrounding environment information stored in the surrounding environment information unit (52). becomes possible.

(5) In the vehicle control device (50) according to (1) above, the surrounding environment storage unit (52) stores the above Cancels the memory of the surrounding environment information and driving route.

With the above configuration, when the user (driver) ignores the notification from the warning device 41 and continues driving at a vehicle speed exceeding the vehicle speed threshold for a predetermined time or longer, the memory of the surrounding environment storage unit 52 is carefully observed. As a result, when the vehicle speed is high, the accuracy of the position information is lowered due to the deflection of the tires 16, and the detection accuracy of the imaging sensor 17 and each range sensor is lowered. By discarding the information of the area where the vehicle is located, it is possible to prevent the generation of low-accuracy surrounding environment information and driving route.

(6) In the vehicle control device (50) according to (1) or (2) above, the vehicle position estimator (51) detects the number of rotations of the wheels of the vehicle, to estimate the position of the vehicle.

With the above configuration, the vehicle position estimator 51 estimates the position of the vehicle 1 from the output from the wheel speed sensor 35 by dead reckoning or the like, thereby generating a highly accurate travel route.

(7) In the vehicle control device (50) according to (1) or (2) above, the vehicle speed threshold determination unit (53) determines the upper limit of the vehicle speed at which accuracy in estimating the position of the vehicle can be ensured. The vehicle speed threshold is set as a value.

With the above configuration, the vehicle control device 50 can prevent the accuracy of the position information from deteriorating due to the deflection of the tire 16, etc., and can generate a highly accurate travel route.

(8) In the vehicle control device (50) according to (7) above, the vehicle speed threshold is set to be equal to or higher than the lower limit value (v3) of the vehicle speed capable of ensuring the accuracy of estimating the position of the vehicle.

With the above configuration, when the vehicle speed decreases, the rate of pulses detected by the wheel speed sensor 35 also decreases. can be prevented from declining.

(9) In the vehicle control device (50) according to (2) above, the vehicle control unit (57) refers to the road map information and acquires the speed limit from the road type information on which the vehicle is traveling. A target vehicle speed is set below the speed limit.

With the above configuration, the vehicle control device 50 can set the target vehicle speed according to the driving environment.

(10) In the vehicle control device (50) according to (2) above, when the surrounding environment information includes a sign indicating a speed limit, the vehicle control unit (57) A vehicle control device (50) characterized by setting the target vehicle speed as follows.

With the above configuration, the vehicle control device 50 can set the target vehicle speed according to the driving environment.

(11) In the vehicle control device (50) according to (2) above, the vehicle control section (57) includes the position of the vehicle (1) estimated by the vehicle position estimation section (51), The target vehicle speed is changed according to the relationship with a preset target position.

With the above configuration, the vehicle control device 50 can change the target vehicle speed according to the distance to the target position, and automatically drive toward the target position while ensuring recognition accuracy.

(12) In the vehicle control device (50) according to (2) above, the vehicle position estimator (51) estimates the position of the vehicle using information from a satellite positioning system, The target vehicle speed is changed according to the distance to the target position.

With the above configuration, the vehicle control device 50 can change the target vehicle speed according to the distance from the position of the vehicle 1 to the target position based on GPS information, and automatically drive toward the target position while ensuring recognition accuracy. .

(13) In the vehicle control device (50) according to (1) above, the surrounding environment storage unit (52) stores the surrounding environment information and the travel route in an external device (701).

With the above configuration, even if the amount of data on the surrounding environment information and the travel route increases, it is possible to reliably store the information in the external data center 701 .

(14) In the vehicle control device (50) according to (2) above, the surrounding environment storage unit (52) causes an external device (701) to store the surrounding environment information and the travel route, A control unit (57) acquires the travel route and the surrounding environment information stored in the external device (701) and performs the automatic operation.

With the above configuration, even when the amount of data of the surrounding environment information and the travel route increases, automatic driving can be performed by acquiring the surrounding environment information and the travel route from the external data center 701 .

In addition, the present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above embodiments are described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the described configurations. In addition, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. In addition, addition, deletion, or replacement of other configurations for a part of the configuration of each embodiment can be applied singly or in combination.

Further, each of the above configurations, functions, processing units, processing means, and the like may be realized by hardware, for example, by designing them in an integrated circuit. Further, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, and files that implement each function can be stored in recording devices such as memories, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.

Further, the control lines and information lines indicate those considered necessary for explanation, and not all control lines and information lines are necessarily indicated on the product. In practice, it may be considered that almost all configurations are interconnected.

1 Vehicle 2 Processor 3 Memory 11 Engine 12 Automatic transmission 13 Propeller shaft 14 Differential gear 15 Drive shaft 16 Wheel 17 Image sensor 19 Various sensors 20 Brake device 21 Electric power steering 22 Medium range sensor 23 Long range sensor 24 Near Distance measuring sensor 34 Input switch unit 35 Wheel sensor 36 Position detector 37 Communication device 40 Various sensors/actuator ECU
41 Warning unit 50 Vehicle control device 51 Vehicle position estimation unit 52 Surrounding environment storage unit 53 Vehicle speed threshold determination unit 54 Stored information collation unit 55 Vehicle speed calculation unit 56 External recognition information conversion unit 57 Vehicle control unit 24A to 24L Short-range ranging sensor 17A to 17D image sensor 22A to 22D middle range sensor 23 long range sensor

Claims (9)

A vehicle control device having a processor and a memory and controlling driving of a vehicle,
a sensor that acquires surrounding environment information of the vehicle;
a vehicle position estimating unit that estimates a travel route of the vehicle;
a surrounding environment storage unit that associates and stores the surrounding environment information acquired by the sensor and the travel route estimated by the vehicle position estimation unit;
When the surrounding environment storage unit sets a vehicle speed threshold when storing the surrounding environment information and the travel route in association with each other, and the surrounding environment storage unit stores the surrounding environment information and the travel route, a vehicle speed threshold determination unit that determines whether or not the current vehicle speed exceeds the vehicle speed threshold;
a warning unit that, when the vehicle speed threshold determining unit determines that the vehicle speed has exceeded the vehicle speed threshold, notifies that the vehicle speed exceeds the vehicle speed threshold;
an input unit that receives the surrounding environment information and a start position m1 at which storage of the travel route is started ;
The surrounding environment storage unit
storing the surrounding environment information and the travel route in association with each other from the start position m1 to a preset target position;
The vehicle speed threshold determination unit
The vehicle speed threshold is set as an upper limit value of the vehicle speed that can ensure the accuracy of estimating the position of the vehicle, and the vehicle speed threshold is the upper limit of the vehicle speed from the start position m1 to a predetermined position m2 of the surrounding environment information. is set to the vehicle speed threshold v1, and the upper limit of the vehicle speed from the predetermined position m2 to the vicinity of the target position, which is the parking start position m3, is set to a second vehicle speed threshold v2 that is smaller than the first vehicle speed threshold v1; A vehicle control device , wherein a vehicle speed lower limit value v3 smaller than the second vehicle speed threshold value v2 is set as a range in which vehicle speed accuracy does not decrease. The vehicle control device according to claim 1,
further comprising a vehicle control unit that performs automatic driving based on the travel route and the surrounding environment information stored in the surrounding environment storage unit;
The vehicle control unit
When an automatic operation command is received from the input unit, automatic operation is performed according to the traveling route from the start position m1 to the target position and the surrounding environment information stored in the surrounding environment storage unit,
From the start position m1 to the predetermined position m2 of the surrounding environment information, the upper limit of the target vehicle speed is set to the first vehicle speed threshold value v1, and the vehicle speed lower limit value v3 is set as a range in which the accuracy of the vehicle speed does not decrease. setting a target vehicle speed between the vehicle speed threshold value v1 of 1 and the vehicle speed lower limit value v3;
From the predetermined position m2 to the vicinity of the target position, which is the parking start position m3, the upper limit of the vehicle speed is set to the second vehicle speed threshold v2, and the lower limit of the vehicle speed v3 is set as a range in which the accuracy of the vehicle speed does not decrease. setting a target vehicle speed between the second vehicle speed threshold value v2 and the vehicle speed lower limit value v3,
A vehicle control device, wherein the restriction of the vehicle speed lower limit value v3 is released from the parking start position m3 to lower the target vehicle speed, and automatic driving is performed toward the target position. The vehicle control device according to claim 1,
The surrounding environment storage unit
A vehicle control device characterized in that, when the vehicle speed exceeds the vehicle speed threshold value and travels for a predetermined time or longer, the storage of the surrounding environment information and the travel route is stopped. The vehicle control device according to claim 1,
The vehicle position estimator,
A vehicle control device that detects the number of rotations of wheels of the vehicle and estimates the position of the vehicle from the number of rotations. The vehicle control device according to claim 2,
The vehicle control unit
A vehicle control device, comprising: referring to road map information, obtaining a speed limit from road type information of a road on which the vehicle is traveling, and setting the target vehicle speed at a speed equal to or less than the speed limit. The vehicle control device according to claim 2,
The vehicle control unit
A vehicle control device according to claim 1, wherein when a sign indicating a speed limit is included in the surrounding environment information, the target vehicle speed is set to be equal to or less than the value of the sign. The vehicle control device according to claim 2,
The vehicle position estimator,
A vehicle control device, wherein the position of the vehicle is estimated using information from a satellite positioning system, and the target vehicle speed is changed according to the distance to a preset target position. The vehicle control device according to claim 1,
The surrounding environment storage unit
A vehicle control device, wherein the surrounding environment information and the travel route are stored in an external device. The vehicle control device according to claim 2,
The surrounding environment storage unit
storing the surrounding environment information and the travel route in an external device;
The vehicle control unit
A vehicle control device that acquires the travel route and the surrounding environment information stored in the external device to perform the automatic driving.

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